The Design Of The Advanced Algorithm On Rotating-arm Motion Platform

High-performance motion controller is the key of control system, and it’s widely used inCNC machine、robot control and automation testing and other areas. The performance ofmotion controller effect the performance and efficiency of the controlled object. Therefore,high-performance motion control system needs advanced high-performance motion controlalgorithm. The purpose of this paper is to design a high-performance and high-reliabilityrotary arm platform based on advanced algorithm. We will do research into the motioncontroller-related software and hardware technologies, to design a multi-axis motion controlsystem which include embedded processer system and advanced motion control algorithm.The main content of this paper has two parts. The first part is the design of hardwarecircuit, and the second part is the design of motion control algorithm. This two parts formedthe control system by working together, which meets the requirement of rotary arm platform.For the hardware circuit design: in order to achieve the stably、efficiently and precisecontrol of the motor system，we control the motor system with±10V high-precision analogvoltage. It’s hard to control the output voltage preciselybecause of the output voltage is easilyaffected by the power circuit and the other parts of the circuit. It’s also affected by signalintegrity and electromagnetic compatibility. Therefore, many measures like voltagestabilization and smoothing were taken to stabilize supply voltage. And many measures weretaken to reduce the crosstalk and electromagnetic interference.For the software algorithm design: the high-speed、high-precision and low impact is thekey demand factors for high-performance motion control system. The demand for high-speedand high-precision can be achieved by suitable trajectory planning and designing thehigh-performance speed and position double closed-loop controller. Because of the controlmessage received by the control system is some data of discrete point, the interpolationalgorithm is needed to get plenty of point on the motion trajectory. So that we can control thespeed and position in a short period. Besides, in order to control the motion system in a lowimpact, the acceleration curve of the control speed should be continuous. As a result, the keyto software is the interpolation algorithm and the design of speed and position doubleclosed-loop controller. For the research method: we get the control system design requirements by analyzing thecharacteristic of chip mounter. We design the control algorithms refer to the control systemdesign requirements. First of all, the mathematic model is obtained so that we can check thecontrol algorithms in the virtual environment. And then, we can test the control system in thephysical platform. The software should be optimized in the last.By the design of this two parts, the motion control system is designed completely.Experiments were hold to test the character of the control system. And we got theperformance of the control system by analyzing the experiment data.